Classe représentant un chemin local. More...

#include <localpath.hpp>

Public Member Functions
	LocalPath (std::tr1::shared_ptr< Configuration > B, std::tr1::shared_ptr< Configuration > E)
	constructors and destructors More...

	LocalPath (LocalPath &path, double &pathDelta, bool lastValidConfig=true)
	smaller local path (for the extend method) More...

	LocalPath (const LocalPath &path)
	Copy constructor. More...

	LocalPath (Robot R, p3d_localpath lpPtr)
	Constructor from a struct. More...

	~LocalPath ()
	Destructor.

p3d_localpath *	getLocalpathStruct (bool multi_sol=false)
	obtient la structure p3d_localpath stockée More...

std::tr1::shared_ptr < Configuration >	getBegin ()
	obtient la configuration initiale More...

std::tr1::shared_ptr < Configuration >	getEnd ()
	obtient la configuration finale More...

Robot *	getRobot ()
	obtient le Graph pour lequel le LocalPath est créé More...

int	getNbColTest ()
	Returns the number of Colision test done to test the local path.

int	getNbCostTest ()
	Returns the number of Colision test done to test the local path.

void	setNbCostTest (double nbCostTest)

bool	getEvaluated ()
	teste si le LocalPath à été évalué More...

p3d_localpath_type	getType ()
	obtient le type de LocalPath More...

std::tr1::shared_ptr < Configuration >	getLastValidConfig (double &p)
	obtient la dernière Configuration valide le long du LocalPath More...

void	setLocalpathAsNotTested ()
	Set the localpath as untested.

bool	isValid ()
	teste si le LocalPath est valide More...

bool	unvalidLocalpathTest (Robot R, int ntest)
	test si le LocalPath est valide More...

bool	classicTest ()
	Test the localpath using the classic method as opposed to dichotomic test. More...

double	length ()
	obtient la longueur du LocaPath More...

double	getParamMax ()
	Equivalent to the length when using linear interpolation.

std::tr1::shared_ptr < Configuration >	configAtDist (double dist)
	obtient une Configuration se trouvant à une distance donnée du début du LocalPath More...

std::tr1::shared_ptr < Configuration >	configAtParam (double param)
	obtient une Configuration se trouvant sur le LocalPath à un paramètre donnée More...

double	stayWithInDistance (double u, bool goForward, double *distance)
	Stay within dist From a parameter along the LocalPath and distance a vector of distance in WorkSapce Stay within dist computes the maximum parameter that the robot can move in free space.

double	getResolution (double step=0.0)
	Cost resolution for integral and work along LocalPath. More...

unsigned int	getNumberOfCostSegments ()
	Get number of cost segments. More...

std::vector< std::pair< double, double > >	getCostProfile ()
	Returns the cost profile of the localPath. More...

double	whenCostIntegralPasses (double thresh)
	Return param at which integral of cost is higher than the input (going from begin to end)

double	cost ()
	Compute the total cost of the path.

double	getAverageCost ()

void	setAverageCost (double averageCost)

void	setCost (double cost)
	Set the cost of the local path.

void	setMaxCost (double cost)
	Set the maximal cost found along the local path.

double	getMaxCost () const

double	getReverseCost () const
	get the cost of the reverse local path.

void	setReverseCost (double cost)
	Set the cost of the reverse local path.

void	resetCostComputed ()
	When reset the next cost query will compute it.

void	setIkSol (int *iksol)
	Set the ik sol to be used in the local planner.

std::tr1::shared_ptr< LocalPath >	buildReversePath ()
	Return the reverse path and update its cost.

void	print ()
	Print the variables inside the local path.

Protected Attributes
Robot *	_Robot

std::tr1::shared_ptr < Configuration >	_Begin

std::tr1::shared_ptr < Configuration >	_End

Detailed Description

Classe représentant un chemin local.

Author: Florian Pilardeau,B90,6349 <fpilarde>

Constructor & Destructor Documentation

LocalPath::LocalPath	(	std::tr1::shared_ptr< Configuration >	B,
		std::tr1::shared_ptr< Configuration >	E
	)

constructors and destructors

Class Constructor The type is linear by default

Parameters

B	la Configuration initiale du LocalPath
E	la Configuration finale du LocalPath

LocalPath::LocalPath	(	LocalPath &	path,
		double &	pathDelta,
		bool	lastValidConfig = `true`
	)

smaller local path (for the extend method)

Construct a smaller localpath from the extend method.

LocalPath::LocalPath ( const LocalPath & path )

Copy constructor.

Parameters

path	a LocalPath

LocalPath::LocalPath	(	Robot *	R,
		p3d_localpath *	lpPtr
	)

Constructor from a struct.

Parameters

p3d struct

Member Function Documentation

bool LocalPath::classicTest ( )

Test the localpath using the classic method as opposed to dichotomic test.

Returns: true if the localpath is valid

confPtr_t LocalPath::configAtDist ( double dist )

obtient une Configuration se trouvant à une distance donnée du début du LocalPath

Parameters

R	le Robot pour lequel le LocalPath est créé
dist	la distance par rapport au début

Returns: la Configuration

confPtr_t LocalPath::configAtParam ( double param )

obtient une Configuration se trouvant sur le LocalPath à un paramètre donnée

Parameters

R	le Robot pour lequel le LocalPath est créé
param	le paramètre

Returns: la Configuration

confPtr_t LocalPath::getBegin ( )

obtient la configuration initiale

Returns: la configuration initiale

vector< pair< double, double > > LocalPath::getCostProfile ( )

Returns the cost profile of the localPath.

Returns the cost profile.

confPtr_t LocalPath::getEnd ( )

obtient la configuration finale

Returns: la configuration finale

bool LocalPath::getEvaluated ( )

teste si le LocalPath à été évalué

Returns: le LocalPath à été évalué

confPtr_t LocalPath::getLastValidConfig ( double & p )

obtient la dernière Configuration valide le long du LocalPath

Parameters

p	in/out le paramètre correspondant à la dernière Configauration valide

Returns: la dernière Configuration valide le long du LocalPath

p3d_localpath * LocalPath::getLocalpathStruct ( bool multi_sol = false )

obtient la structure p3d_localpath stockée

Returns: la structure p3d_localpath stockée

unsigned int LocalPath::getNumberOfCostSegments ( )

Get number of cost segments.

Returns the number of cost segment in the chosen resolution.

double LocalPath::getResolution ( double step = 0.0 )

Cost resolution for integral and work along LocalPath.

Returns the closest Resolution To Step.

Robot * LocalPath::getRobot ( )

obtient le Graph pour lequel le LocalPath est créé

Returns: le Graph pour lequel le LocalPath est créé obtient le Robot pour lequel le LocalPath est créé; le Robot pour lequel le LocalPath est créé

p3d_localpath_type LocalPath::getType ( )

obtient le type de LocalPath

Returns: le type de LocalPath

bool LocalPath::isValid ( )

teste si le LocalPath est valide

Returns: le LocalPath est valide

double LocalPath::length ( )

obtient la longueur du LocaPath

Returns: la longueur du LocalPath

bool LocalPath::unvalidLocalpathTest	(	Robot *	R,
		int *	ntest
	)

test si le LocalPath est valide

Parameters

R	le Robot pour lequel le LocalPath est testé
ntest	in/out le nombre de tests

Returns: ! le LocalPath n'est pas valide

The documentation for this class was generated from the following files:

src/API/ConfigSpace/localpath.hpp
src/API/ConfigSpace/localpath.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation